闸机液压旋转机构的混合自适应前馈控制

Hybrid Self-adaption Feedforward Control for Gate Hydraulic Rotating Mechanism

提出利用液压比例阀进出口两端压差进行参数混合自适应前馈控制的闸机液压旋转机构控制方法。首先介绍系统结构,建立关键液压元器件的数学模型;然后根据前馈控制模型中压差不确定性,给出在无压力传感的情况下,对伺服阀压差进行实时估计的方法和增益调度方式实现压差自适应的方法。随后,提出一种将实时估计与调度增益的自适应参数加权求和的混合方法,获得伺服阀压差作为前馈控制的模型参考。最后进行仿真研究,研究结果表明:在闸机液压旋转门的前馈控制中,混合自适应方法在存在测量误差等噪声干扰的实际工作环境中,可以比自校正和增益调度方式获得更高的位置跟随和速度跟随精度。

This paper proposes gate hydraulic rotating mechanism method for parameter hybrid self-adaption feedforward control with pressure difference at both sides at the entrance and exit of hydraulic pressure proportioning valve. Firstly, this paper introduces system structure, and establishes the mathematical model of key hydraulic components. And then, according to uncertainty of pressure difference in the feedforward control model, real-time estimation method and the gain scheduling mode are presented for servo valve pressure difference to realize pressure difference self-adaption method without pressure sensor. Then, a hybrid method of weighted summation of adaptive parameters with real-time estimation and scheduling gain is proposed, and the servo valve pressure difference is obtained as a model reference for feedforward control. Finally, simulation study is conducted, research results shows that hybrid self-adaption method can obtain higher position and speed following accuracy than self-correction and gain scheduling in real environment with noise interference such as measurement error in feedforward control of gate hydraulic rotating door.